diff --git a/asc2log.c b/asc2log.c
index 4ed8134..303803a 100644
--- a/asc2log.c
+++ b/asc2log.c
@@ -70,7 +70,7 @@ void print_usage(char *prg)
 	fprintf(stderr, "\t-O <outfile>\t(default stdout)\n");
 }
 
-void prframe(FILE *file, struct timeval *tv, int dev, struct can_frame *cf) {
+void prframe(FILE *file, struct timeval *tv, int dev, struct canfd_frame *cf, unsigned int max_dlen) {
 
 	fprintf(file, "(%ld.%06ld) ", tv->tv_sec, tv->tv_usec);
 
@@ -79,11 +79,10 @@ void prframe(FILE *file, struct timeval *tv, int dev, struct can_frame *cf) {
 	else
 		fprintf(file, "canX ");
 
-	/* no CAN FD support so far */
-	fprint_canframe(file, (struct canfd_frame *)cf, "\n", 0, CAN_MAX_DLEN);
+	fprint_canframe(file, cf, "\n", 0, max_dlen);
 }
 
-void get_can_id(struct can_frame *cf, char *idstring, int base) {
+void get_can_id(struct canfd_frame *cf, char *idstring, int base) {
 
 	if (idstring[strlen(idstring)-1] == 'x') {
 		cf->can_id = CAN_EFF_FLAG;
@@ -131,7 +130,7 @@ void eval_can(char* buf, struct timeval *date_tvp, char timestamps, char base, i
 	int interface;
 	static struct timeval tv; /* current frame timestamp */
 	static struct timeval read_tv; /* frame timestamp from ASC file */
-	struct can_frame cf;
+	struct canfd_frame cf;
 	char rtr;
 	int dlc = 0;
 	int data[8];
@@ -170,15 +169,19 @@ void eval_can(char* buf, struct timeval *date_tvp, char timestamps, char base, i
 	}
 
 	if (found) {
+
+		if (dlc > CAN_MAX_DLC)
+			return;
+
+		cf.len = dlc;
 		if (rtr == 'r')
 			cf.can_id |= CAN_RTR_FLAG;
-
-		cf.can_dlc = dlc & 0x0FU;
-		for (i=0; i<dlc; i++)
-			cf.data[i] = data[i] & 0xFFU;
+		else
+			for (i = 0; i < dlc; i++)
+				cf.data[i] = data[i] & 0xFFU;
 
 		calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-		prframe(outfile, &tv, interface, &cf);
+		prframe(outfile, &tv, interface, &cf, CAN_MAX_DLEN);
 		fflush(outfile);
 		return;
 	}
@@ -192,17 +195,119 @@ void eval_can(char* buf, struct timeval *date_tvp, char timestamps, char base, i
 
 			memset(&cf, 0, sizeof(cf));
 			/* do not know more than 'Error' */
-			cf.can_id  = (CAN_ERR_FLAG | CAN_ERR_BUSERROR);
-			cf.can_dlc =  CAN_ERR_DLC;
+			cf.can_id = (CAN_ERR_FLAG | CAN_ERR_BUSERROR);
+			cf.len = CAN_ERR_DLC;
 
 			calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-			prframe(outfile, &tv, interface, &cf);
+			prframe(outfile, &tv, interface, &cf, CAN_MAX_DLEN);
 			fflush(outfile);
 		}
 	}
 }
 
-void eval_canfd(char* buf, struct timeval *date_tvp, char timestamps, char base, int dplace, FILE *outfile) {
+void eval_canfd(char* buf, struct timeval *date_tvp, char timestamps, int dplace, FILE *outfile) {
+
+	int interface;
+	static struct timeval tv; /* current frame timestamp */
+	static struct timeval read_tv; /* frame timestamp from ASC file */
+	struct canfd_frame cf;
+	unsigned char brs, esi, ctmp;
+	unsigned int flags;
+	int dlc, dlen = 0;
+	char tmp1[BUFLEN];
+	char *ptr;
+	int i;
+
+	/* The CANFD format is mainly in hex representation but <DataLength>
+	   and probably some content we skip anyway. Don't trust the docs! */
+
+	/* 21.671796 CANFD   1 Tx         11  msgCanFdFr1                      1 0 a 16 \
+	   00 00 00 00 00 00 00 00 00 00 00 00 00 00 59 c0		\
+	   100000  214   223040 80000000 46500250 460a0250 20011736 20010205 */
+
+	memset(&cf, 0, sizeof(cf));
+
+	if (sscanf(buf, "%ld.%ld %*s %d %*s %s %hhx %hhx %x %d ",
+		   &read_tv.tv_sec, &read_tv.tv_usec, &interface,
+		   tmp1, &brs, &esi, &dlc, &dlen) == 8) {
+		/* no symbolic name */
+	} else if (sscanf(buf, "%ld.%ld %*s %d %*s %s %*s %hhx %hhx %x %d ",
+		   &read_tv.tv_sec, &read_tv.tv_usec, &interface,
+		   tmp1, &brs, &esi, &dlc, &dlen) == 8) {
+		/* with symbolic name */
+	} else
+		return; /* no valid CANFD format pattern */
+
+	get_can_id(&cf, tmp1, 16);
+
+	/* now search for the beginning of the data[] content */
+	sprintf(tmp1, " %x %x %x %2d ", brs, esi, dlc, dlen);
+
+	/* search for the pattern generated by real data */
+	ptr = strcasestr(buf, tmp1);
+	if (ptr == NULL)
+		return;
+
+	ptr += strlen(tmp1); /* hop to the start of hex data */
+
+	if (dlen > CANFD_MAX_DLEN)
+		return;
+
+	/* don't trust ASCII content - sanitize data length */
+	if (dlen != can_dlc2len(can_len2dlc(dlen)))
+		return;
+
+	cf.len = dlen;
+
+	for (i = 0; i < dlen; i++) {
+		ctmp = asc2nibble(ptr[0]);
+		if (ctmp > 0x0F)
+			return;
+
+		cf.data[i] = (ctmp << 4);
+
+		ctmp = asc2nibble(ptr[1]);
+		if (ctmp > 0x0F)
+			return;
+
+		cf.data[i] |= ctmp;
+
+		ptr += 3; /* start of next ASCII hex byte */
+	}
+
+	/* skip MessageDuration and MessageLength to get Flags value */
+	if (sscanf(ptr, "   %*x %*x %x ", &flags) != 1)
+		return;
+
+	/* relevant flags in Flags field */
+#define ASC_F_RTR 0x00000010
+#define ASC_F_FDF 0x00001000
+#define ASC_F_BRS 0x00002000
+#define ASC_F_ESI 0x00004000
+
+	if (flags & ASC_F_FDF) {
+		dlen = CANFD_MAX_DLEN;
+		if (flags & ASC_F_BRS)
+			cf.flags |= CANFD_BRS;
+		if (flags & ASC_F_ESI)
+			cf.flags |= CANFD_ESI;
+	} else {
+		/* yes. The 'CANFD' format supports classic CAN content! */
+		dlen = CAN_MAX_DLEN;
+		if (flags & ASC_F_RTR) {
+			cf.can_id |= CAN_RTR_FLAG;
+			/* dlen is always 0 for classic CAN RTR frames
+			   but the DLC value is valid in RTR cases */
+			cf.len = dlc;
+		}
+	}
+
+	calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
+	prframe(outfile, &tv, interface, &cf, dlen);
+	fflush(outfile);
+	return;
+
+	/* No support for really strange CANFD ErrorFrames format m( */
 }
 
 int get_date(struct timeval *tv, char *date) {
@@ -368,7 +473,7 @@ int main(int argc, char **argv)
 		/* check classic CAN format or the CANFD tag which can take both types */
 		if (sscanf(buf, "%ld.%ld %s ", &tmp_tv.tv_sec,  &tmp_tv.tv_usec, tmp1) == 3){
 			if (!strncmp(tmp1, "CANFD", 5))
-				eval_canfd(buf, &date_tv, timestamps, base, dplace, outfile);
+				eval_canfd(buf, &date_tv, timestamps, dplace, outfile);
 			else
 				eval_can(buf, &date_tv, timestamps, base, dplace, outfile);
 		}